The Regulation and Tracking Control Design in Three Dimensional Overhead Crane System via Fuzzy Adaptive Sliding Mode Control

• Main Authors: Kuo-Hung Chiang, 江國宏
• Other Authors: Kou-Cheng Hsu
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/27986626413130030812

碩士 === 輔仁大學 === 電子工程學系 === 95 === This thesis develops a capable control scheme to realize the regulation, tracking and anti-swing for a three dimensional overhead crane system. Through the definition of the decoupling sliding surface vector, the dynamic adaptive strategy of the slope matrix, and the benefit in intuitional design of the fuzzy logic control, the proposed controller can also deal with both the regulation and the tracking control of the three dimensional overhead crane system once little modification of some parameters of the controller. Compared with the conventional fuzzy control design, the proposed control scheme can reduce the number of fuzzy rules effectively, which is more valuable in real time control of a three dimensional overhead crane system. The proposed control scheme just needs to use the dynamic model to choose the proper sliding surface, but it does not need any parameters of the dynamic model in practical control period. In other words, the proposed control scheme is a model free controller. The stability of the proposed scheme is also proved to guarantee that the system states will approach to sliding surface and abide in equilibrium point asymptotically. For the existence of inherent nonlinear control deadzone in the practical crane operation, a compensating algorithm is applied to overcome the deadzone bias in the control. Finally, the success of the proposed control scheme is demonstrated by some simulations and practical experiments.